robot_state_interface.h

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//
// Created by qiayuan on 1/3/21.
//
 
#pragma once
 
#include <utility>
 
#include <hardware_interface/internal/hardware_resource_manager.h>
#include <tf2_ros/transform_listener.h>
#include <tf2_ros/transform_broadcaster.h>
 
#include "rm_common/tf_rt_broadcaster.h"
 
namespace rm_control
{
class RobotStateHandle
{
public:
  RobotStateHandle() = default;
  RobotStateHandle(std::string name, tf2_ros::Buffer* buffer) : name_(std::move(name)), buffer_(buffer)
  {
    if (!buffer)
      throw hardware_interface::HardwareInterfaceException("Cannot create handle '" + name +
                                                           "'. Tf Buffer data pointer is null.");
  };
 
  geometry_msgs::TransformStamped lookupTransform(const std::string& target_frame, const std::string& source_frame,
                                                  const ros::Time& time)
  {
    return buffer_->lookupTransform(target_frame, source_frame, time);
  }
 
  bool setTransform(const geometry_msgs::TransformStamped& transform, const std::string& authority,
                    bool is_static = false) const
  {
    return buffer_->setTransform(transform, authority, is_static);
  }
 
  bool setTransform(const std::vector<geometry_msgs::TransformStamped>& transforms, const std::string& authority,
                    bool is_static = false) const
  {
    for (const auto& transform : transforms)
      buffer_->setTransform(transform, authority, is_static);
    return true;
  }
 
  std::string getName() const
  {
    return name_;
  }
 
private:
  std::string name_;
  tf2_ros::Buffer* buffer_{};
};
 
class RobotStateInterface
  : public hardware_interface::HardwareResourceManager<RobotStateHandle, hardware_interface::DontClaimResources>
{
};
}  // namespace rm_control